Consensus-based Formation Control with Dynamic Role Assignment
In this paper,dynamic role assignment and collision avoidance based on consensus tracking algorithm are investigated for systems with complete communication graph.First,based on the traditional consensus protocol,consensus-based control algorithm with dynamic role assignment is proposed.To make each agent reach the closest formation point,we give an efficient assignment solution by solving an optimal problem with Hungarain algorithm.Second,by constructing collision avoidance potential functions,modified consensus algorithms containing corresponding gradient terms are presented for multi-agents systems,which guarantee collision avoidance.Simulation results show the effectiveness of the proposed algorithms.
Consensus Cooperative control Assignment Collision avoidance
Zhongqi Sun Yuanqing Xia
School of Automation,Beijing Institute of Technology,Beijing 100081,China
国际会议
长沙
英文
3681-3686
2014-05-31（万方平台首次上网日期，不代表论文的发表时间）